Manipulator capable of conveniently adjusting object taking distance

Abstract

The utility model relates to the technical field of manipulators, in particular to a manipulator convenient for adjusting fetching spacing, which comprises a transmission part and a mounting component, a plurality of groups of swinging parts are arranged on the transmission part, bolts are arranged at threaded through holes of the swinging parts, the bolts are connected with the transmission part, connecting parts are arranged at inner holes of the swinging parts, and fixing parts are arranged on the connecting parts. A clamping piece is arranged on the fixing piece, a coil spring is arranged at an inner hole of the swing piece, the other end of the coil spring is arranged on the connecting piece, and two sets of transmission pieces are arranged on the installation assembly. The driving assembly is used for driving the two groups of transmission parts to rotate; the distance is convenient to adjust, the clamping stability is high, and the adaptability is high.

Description

Technical Field

[0001] The utility model relates to the technical field of a manipulator, in particular to a manipulator which is convenient for adjusting the distance between objects to be taken. Background Art

[0002] With the accelerated advancement of automation and intelligent manufacturing, industrial robots are increasingly used in production lines. As a key component of robots, the performance of manipulators directly affects the efficiency, accuracy and adaptability of robot operations. Existing manipulators still have problems such as inconvenient adjustment of object spacing, poor clamping stability and limited adaptability in terms of object picking, gripping stability and adaptability to objects of different sizes and shapes. Utility Model Content

[0003] In order to solve the above technical problems, the utility model provides a manipulator which is easy to adjust the distance between objects to be picked up and has high clamping stability and strong adaptability.

[0004] As a preference, it includes:

[0005] Transmission member and installation assembly, both ends of the transmission member are respectively provided with polygonal structures, multiple groups of swing members are slidably provided at the polygonal structure of the transmission member, at least two groups of swing members are provided, bolts are provided at the threaded through holes of the swing members, the bolts are connected to the transmission member, a connecting member is rotatably provided at the inner hole of the swing member, a fixing member is provided on the connecting member, a clamping member is provided on the fixing member, a coil spring is provided at the inner hole of the swing member, the other end of the coil spring is provided on the connecting member, and two groups of transmission members are provided on the installation assembly;

[0006] The driving assembly is used to drive the two sets of transmission parts 1 to rotate.

[0007] Further, the mounting assembly includes a fixing member and an adjusting member, the fixing member is provided with a positioning member, the positioning member is provided with a moving member, the transmission member is provided at the through hole of the moving member, and the fixing member is provided on the robot arm;

[0008] The adjusting component is used to adjust the distance between two groups of moving parts.

[0009] Preferably, the adjustment assembly includes auxiliary parts arranged at both ends of the fixed part, two groups of threaded rods are respectively arranged at the inner holes of the two groups of auxiliary parts, an extension part is arranged on the movable part, and the two groups of auxiliary parts are respectively arranged inside different threaded holes of the extension parts.

[0010] Furthermore, the driving assembly includes a supporting member arranged on the moving member, a worm is arranged at a hole groove of the supporting member, a worm wheel is coaxially arranged on the transmission member, and the worm is meshingly connected with the worm wheel.

[0011] Preferably, the driving assembly further comprises a power member disposed on the two sets of auxiliary members, and the power member is cooperatively connected with the two sets of polygonal inner holes of the worm gears.

[0012] Furthermore, a driving member is arranged at the shaft hole of the fixing member, a first bevel gear is coaxially arranged on the driving member, a second bevel gear is coaxially arranged on the power member, the second bevel gear is meshedly connected with the first bevel gear, and the second bevel gear is an external robot arm driving source.

[0013] Preferably, a transmission gear is coaxially arranged on the threaded rod, and two sets of transmission gears are meshed and transmission connected.

[0014] Furthermore, an anti-slip member is provided on the clamping member.

[0015] Preferably, a protective member is provided on the transmission member, and the two sets of transmission gears are located inside the protective member.

[0016] Furthermore, a stabilizing member is arranged on the fixing member, and a power member is arranged at the hole groove of the stabilizing member.

[0017] Compared with the prior art, the utility model has the following beneficial effects: the transmission member adopts a multi-faceted structural design and slides with the swing member. By adjusting the connection position of the bolt on the transmission member, the relative distance between the two sets of swing members can be easily changed, thereby realizing accurate and rapid adjustment of the object picking spacing. This design greatly facilitates the manipulator to adapt to the grabbing needs of objects of different sizes and shapes, and improves the adaptability of the operation;

[0018] The clamping piece is installed on the connecting piece through the fixing piece, and the connecting piece is rotatably connected with the inner hole of the swinging piece, which ensures that the clamping piece can be properly rotated and fine-tuned when grabbing objects, adapting to the changes in the surface shape of the objects and improving the clamping stability. At the same time, the setting of the coil spring provides a constant restoring force for the clamping piece, ensuring that the clamping force is appropriate and lasting, effectively preventing the objects from slipping during the handling process;

[0019] The drive assembly is responsible for driving the two sets of transmission parts to rotate synchronously, realizing centralized control of the two sets of swing parts and clamping parts, simplifying the operation process, reducing the complexity of the system, and making it easier for users to quickly and accurately adjust the object picking distance to adapt to different work tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a front view structural schematic diagram of the utility model;

[0021] Figure 2 It is a schematic diagram of the axonometric structure of the utility model;

[0022] Figure 3 It is a schematic diagram of the structure of the utility model when viewed from above;

[0023] Figure 4It is a schematic diagram of the top view structure of the utility model;

[0024] Markings in the accompanying drawings: 1. transmission member; 2. swing member; 3. bolt; 4. connecting member; 5. fixing member; 6. clamping member; 7. coil spring; 8. fixing member; 9. positioning member; 10. moving member; 11. auxiliary member; 12. threaded rod; 13. extension member; 14. supporting member; 15. worm; 16. worm wheel; 17. power member; 18. driving member; 19. first bevel gear; 20. second bevel gear; 21. transmission gear; 22. anti-slip member; 23. protective member; 24. stabilizing member. DETAILED DESCRIPTION

[0025] The following is a further detailed description of the specific implementation of the present invention in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0026] like Figures 1 to 4 As shown, the utility model of the robot arm that is convenient for adjusting the distance between objects to be taken includes:

[0027] Transmission member 1 and installation assembly, both ends of the transmission member 1 are respectively set to polygonal structures, multiple groups of swing members 2 are slidably arranged at the polygonal structure of the transmission member 1, at least two groups of swing members 2 are arranged, a bolt 3 is arranged at the threaded through hole of the swing member 2, the bolt 3 is connected to the transmission member 1, a connecting member 4 is rotatably arranged at the inner hole of the swing member 2, a fixing member 5 is arranged on the connecting member 4, a clamping member 6 is arranged on the fixing member 5, a coil spring 7 is arranged at the inner hole of the swing member 2, and the other end of the coil spring 7 is arranged on the connecting member 4, two groups of transmission members 1 are arranged on the installation assembly, and an anti-slip member 22 is arranged on the clamping member 6;

[0028] The driving assembly is used to drive the two sets of transmission members 1 to rotate; the transmission member 1 adopts a multi-faceted structural design and slides with the swing member 2. By adjusting the connection position of the bolt 3 on the transmission member 1, the relative distance between the two sets of swing members 2 can be easily changed, thereby achieving accurate and rapid adjustment of the object picking spacing. This design greatly facilitates the manipulator to adapt to the grasping needs of objects of different sizes and shapes, and improves the adaptability of the operation;

[0029] The clamping member 6 is mounted on the connecting member 4 through the fixing member 5. The connecting member 4 is rotatably connected to the inner hole of the swinging member 2, ensuring that the clamping member 6 can perform appropriate rotation fine adjustment when grabbing an object, adapting to the change in the surface shape of the object and improving the clamping stability. At the same time, the setting of the coil spring 7 provides a constant restoring force for the clamping member 6, ensuring that the clamping force is appropriate and lasting, effectively preventing the object from slipping during the handling process. The addition of the anti-slip member 22 further enhances the friction between the clamping member 6 and the object, ensuring the reliability of the grabbing.

[0030] The driving assembly is responsible for driving the two groups of transmission parts 1 to rotate synchronously, realizing centralized control of the two groups of swing parts 2 and the clamping parts 6, simplifying the operation process, reducing the complexity of the system, and facilitating users to quickly and accurately adjust the object picking distance to adapt to different work tasks.

[0031] like Figures 1 to 4 As shown, as a preferred solution, the mounting assembly includes a fixing member 8 and an adjusting member, the fixing member 8 is provided with a plurality of groups of long mounting holes, the fixing member 8 is provided with a positioning member 9, a moving member 10 is slidably provided on the positioning member 9, the transmission member 1 is rotatably provided at the through hole of the moving member 10, and the fixing member 8 is provided on the robot arm;

[0032] The adjustment component is used to adjust the distance between the two groups of moving parts 10; the multiple groups of long mounting holes provided on the fixing part 8 provide a variety of installation position options for the transmission part 1, and the installation position of the transmission part 1 on the robot arm can be flexibly adjusted according to the specific structure and use requirements of the robot arm, which greatly improves the adaptability of the manipulator and the robot arm and reduces the specific requirements for the robot arm structure;

[0033] The adjustment component is used to adjust the distance between the two groups of moving parts 10, so that the transmission part 1 and its associated clamping mechanism can move in a wider range, which can not only adapt to the grasping of objects of a wider range of sizes and shapes, but also achieve a more flexible working posture in a limited working space, thereby improving the manipulator's ability to operate in a small and complex environment;

[0034] The setting of the positioning part 9 provides a stable sliding guide for the moving part 10, ensures the stability of the transmission part 1 during the rotation process, reduces vibration and noise, and improves the stability and life of the manipulator operation. At the same time, the stable connection between the fixing part 8 and the robot arm enhances the rigidity of the entire manipulator structure and ensures reliable operation under high-intensity working conditions.

[0035] like Figures 1 to 4 As shown, as a preferred solution, further, the adjustment component includes auxiliary parts 11 arranged at both ends of the fixing part 8, two groups of threaded rods 12 are rotatably arranged at the inner holes of the two groups of auxiliary parts 11, and the threaded rods 12 are provided with hexagonal adjustment holes. An extension part 13 is provided on the moving part 10, and the two groups of auxiliary parts 11 are respectively arranged inside different threaded holes of the extension part 13, and a transmission gear 21 is coaxially arranged on the threaded rod 12. The two groups of transmission gears 21 are meshed and connected for transmission. A protective part 23 is provided on the transmission part 1, and the two groups of transmission gears 21 are located inside the protective part 23; the cooperation between the threaded rod 12 and the threaded hole of the extension part 13, and the design of the hexagonal adjustment hole make the adjustment of the spacing of the moving part 10 more accurate and stable. By rotating the threaded rod 12, the moving distance of the moving part 10 along the thread direction can be accurately controlled, so that the fine adjustment of the spacing between the two groups of moving parts 10 can be achieved, and the regulation accuracy of the object picking spacing is improved;

[0036] The setting of the hexagonal adjustment hole makes it convenient to use a wrench or other tools to directly rotate the threaded rod 12 without disassembling other parts, which greatly simplifies the adjustment process of the spacing between the moving parts 10 and improves the working efficiency. At the same time, the two sets of threaded rods 12 are connected by meshing transmission gears 21, so that only one side of the threaded rod 12 needs to be operated to synchronously adjust the spacing between the moving parts 10 on both sides, which further simplifies the operation process and reduces the manual burden.

[0037] The transmission gear 21 is arranged inside the protective member 23 to form a closed protective space, which effectively prevents dust, debris, etc. from invading the transmission gear 21, reduces the wear and failure rate of the transmission system, and prolongs the service life.

[0038] like Figures 1 to 4 As shown, as a preferred solution, the driving assembly includes a support member 14 arranged on the moving member 10, a worm 15 is rotatably arranged at the hole groove of the support member 14, a worm wheel 16 is coaxially arranged on the transmission member 1, and the worm 15 is meshingly connected with the worm wheel 16; the meshing transmission of the worm 15 and the worm wheel 16 has the characteristics of a high transmission ratio, and can achieve a large torque transmission under a small speed difference. At the same time, the self-locking characteristics of the worm gear transmission can keep the manipulator in the current position when clamping, avoiding the unconscious sliding of the moving member 10 caused by factors such as gravity, and ensuring the stability of the object picking process;

[0039] The worm gear transmission has good transmission accuracy, the tooth side clearance between the worm and the worm wheel is small, the transmission is smooth, and there is no obvious impact and vibration, which ensures the positioning accuracy of the transmission member 1 during the rotation process. This is especially important for the manipulator that needs to accurately control the object picking spacing and clamping position, which helps to improve the accuracy and quality of the operation;

[0040] The setting of the support member 14 provides a stable support and installation platform for the worm 15, ensuring the stability of the meshing transmission between the worm 15 and the worm wheel 16. At the same time, the meshing structure of the worm 15 and the worm wheel 16 has good load-bearing capacity and wear resistance, and can maintain good transmission performance even under long-term and high-intensity operating conditions, thereby extending the service life of the drive component and improving the operating reliability of the manipulator.

[0041] like Figures 1 to 4As shown, as a preferred solution, the driving assembly also includes a power member 17 arranged on the two groups of auxiliary members 11, the power member 17 is matched with the multi-faceted inner holes of the two groups of worm gears 15, and a driving member 18 is rotatably arranged at the shaft hole of the fixed member 8. A first bevel gear 19 is coaxially arranged on the driving member 18, and a second bevel gear 20 is coaxially arranged on the power member 17. The second bevel gear 20 is meshed and connected with the first bevel gear 19. The second bevel gear 20 is an external robot arm driving source. When the power member 17 drives the two groups of worm gears 15 to mesh with the worm wheel 16, the two groups of transmission members 1 rotate synchronously in the opposite direction, and the fixed member 8 is provided with a driving member 18. A stabilizing member 24 is provided, and a power member 17 is provided at the hole groove of the stabilizing member 24; the power member 17 is connected with the two sets of polygonal inner holes of the worm 15, and the power of the external robot arm driving source is directly and efficiently transmitted to the worm 15, which reduces the transmission links, reduces the energy loss, and improves the power transmission efficiency. At the same time, the meshing transmission of the first bevel gear 19 and the second bevel gear 20 further optimizes the power transmission path, ensures the efficient and stable transmission of power, and the transmission relationship between the two sets of moving parts 10 remains unchanged after the distance between them is adjusted when the power member 17 and the polygonal inner hole of the worm 15 are transmitted;

[0042] The synchronous driving of the two groups of worms 15 by the power member 17 enables the two groups of transmission members 1 to achieve synchronous reverse rotation when meshing with the worm wheel 16, ensuring the coordination of the manipulator when picking up and placing objects, and avoiding the failure of picking up objects or damage to objects caused by the asynchronous rotation of the two groups of transmission members 1. This synchronous driving design significantly improves the success rate and operation quality of the manipulator in complex and delicate operations;

[0043] The stabilizing member 24 provided on the fixing member 8 provides a reliable support and installation platform for the power member 17, enhances the connection stability between the power member 17 and key components such as the transmission member 1 and the worm 15, reduces power transmission interruption or equipment failure caused by factors such as vibration and impact, and ensures the stable operation of the manipulator in long-term, high-intensity operations.

[0044] like Figures 1 to 4 As shown, as a preferred solution, its working process is as follows:

[0045] Clamping and rotation fine-tuning: After the clamping member 6 contacts the object, the constant restoring force provided by the coil spring 7 ensures that the clamping force is appropriate and lasting. At the same time, the rotational connection between the connecting member 4 and the inner hole of the swinging member 2 allows the clamping member 6 to perform appropriate rotation fine-tuning when grasping the object to adapt to the changes in the surface shape of the object. The presence of the anti-slip member 22 further enhances the friction between the clamping member 6 and the object.

[0046] Adjustment of object picking distance: If the object picking distance needs to be adjusted to accommodate objects of different sizes and shapes, the user can precisely control it by rotating the threaded rod 12 and using the hexagonal adjustment hole. The threaded rod 12 cooperates with the threaded hole of the extension piece 13, and the transmission gear 21 is synchronously driven, so that the distance between the moving pieces 10 on both sides can be synchronously adjusted by operating only one side of the threaded rod 12;

[0047] Object handling: Under the condition of stable clamping and appropriate object picking distance, the manipulator carries out object handling under the guidance of the robot arm. During this period, the worm gear ensures the stability, accuracy and safety of the object picking process, and the support member 14, the stabilizing member 24 and other components provide a stable support and installation platform for the transmission and drive components;

[0048] Object placement operation: After reaching the target position, the user sends instructions to the drive component through the control system again, so that the two sets of transmission parts 1 and the clamping mechanism move outward synchronously to release the object. Then, the manipulator returns to the initial standby state and prepares to perform the next object picking task.

[0049] The installation method, connection method or setting method of the robot arm of the utility model which is convenient for adjusting the object picking distance are all common mechanical methods, and any method which can achieve its beneficial effects can be implemented.

[0050] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principle of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A manipulator that is convenient for adjusting the distance between objects to be picked up, characterized in that: include: A transmission member and an installation assembly, wherein the transmission member is provided with multiple groups of swing members, a bolt is provided at the threaded through hole of the swing member, the bolt is connected to the transmission member, a connecting member is provided at the inner hole of the swing member, a fixing member is provided on the connecting member, a clamping member is provided on the fixing member, a coil spring is provided at the inner hole of the swing member, the other end of the coil spring is provided on the connecting member, and two groups of transmission members are provided on the installation assembly; A driving assembly is used to drive two groups of transmission parts to rotate.

2. The manipulator for adjusting the distance between objects to be picked up as claimed in claim 1, characterized in that: The mounting assembly includes a fixing member and an adjusting member, the fixing member is provided with a positioning member, the positioning member is provided with a moving member, the transmission member is provided at a through hole of the moving member, and the fixing member is provided on the robot arm; The adjusting component is used to adjust the distance between two groups of moving parts.

3. The manipulator for adjusting the distance between objects to be picked up as claimed in claim 2, characterized in that: The adjustment component includes auxiliary parts arranged at both ends of the fixing part, two groups of threaded rods are respectively arranged at the inner holes of the two groups of auxiliary parts, an extension part is arranged on the moving part, and the two groups of auxiliary parts are respectively arranged inside different threaded holes of the extension parts.

4. The manipulator for adjusting the object picking distance according to claim 2, characterized in that: The driving assembly comprises a supporting member arranged on the moving member, a worm is arranged at a hole groove of the supporting member, a worm wheel is coaxially arranged on the transmission member, and the worm is meshingly connected with the worm wheel.

5. The robot for adjusting the distance between objects to be picked up as claimed in claim 4, characterized in that: The driving assembly also includes a power piece arranged on the two groups of auxiliary parts, and the power piece is cooperatively connected with the two groups of multi-faceted inner holes of the worm gears.

6. The robot for adjusting the distance between objects to be picked up as claimed in claim 5, characterized in that: A driving member is arranged at the shaft hole of the fixing member, a first bevel gear is coaxially arranged on the driving member, a second bevel gear is coaxially arranged on the power member, the second bevel gear is meshedly connected with the first bevel gear, and the second bevel gear is an external robot arm driving source.

7. The robot for adjusting the distance between objects to be picked up as claimed in claim 3, characterized in that: The threaded rod is coaxially provided with a transmission gear, and two groups of the transmission gears are meshed and transmission-connected.

8. The robot for adjusting the distance between objects to be picked up as claimed in claim 1, characterized in that: The clamping piece is provided with an anti-slip piece.

9. The robot for adjusting the distance between objects to be picked up as claimed in claim 7, characterized in that: A protective member is arranged on the transmission member, and the two groups of transmission gears are located inside the protective member.

10. The robot for adjusting the distance between objects to be picked up as claimed in claim 2, characterized in that: A stabilizing member is arranged on the fixing member, and a power member is arranged at the hole groove of the stabilizing member.

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